Schmalz 3D-R, Быстрый старт, Страница: 23 / 36

5. Remove the calibration plate from the robot flange and fit the gripper (> See ch. Preparing the Gripping Sys-
tem, Page 15) .
Version: camera mounted on robot arm
1. Place the calibration plate on the later pick-up position.
2. Start the calibration in the UR menu by selecting Programs -> rc hand eye calibration and pressing “ Play ”.
The Cap guides you through the calibration routine in 4 steps. Follow the instructions in the Cap.
CAUTION! Risk of collision and crushing due to sudden movements of the robot arm. Ensure that the emer-
gency stop is always within reach.
Watch the green markings that appear on the calibration plate in the live image. Optimum results are
achieved when all markings are green.
3. Save the result with: “ save calibration ”
6.7 Setting the Gripper
The process for setting the gripper is described in the URCap under: “ Schmalz Gripper Installation ”, in the info but-
tons “ Changing Part Present Value (SP2) ” and “ Setting Up Gripper ”.
7 Creating a Program Sequence
The USB stick contains example programs for the different installation options.
1. Upload the relevant program to the Universal Robot by selecting: Open.. -> Load Program .
2. Define all yellow-highlighted fields in the program tree.
To avoid collisions between the robot and the camera/gripping system during operation, we recommend inserting
multiple waypoints between the pick-up position and end position.
The example programs enable initial picks.
To optimize the process steps, we recommend adapting the program to individual requirements.
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